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67 Commits

Author SHA1 Message Date
Andrew Tridgell 89bd6ab218 AP_GPS: implement the GPS_DRV_OPTION for ellisoid height in mode drivers 
this allows a lot more drivers to use the GPS_DRV_OPTION but to use
ellisoid height. Particularly useful for DroneCAN GPS modules

using ellisoid height instead of AMSL is useful in some specialised
application
 2023-09-21 19:36:26 +10:00
Peter Barker a391b14a6d AP_GPS: replace utility functions with compiler builtins 2023-09-12 09:48:53 +10:00
Peter Barker 6ee9f01ffb AP_GPS: avoid use of mavlink constructs when GCS not compiled in 2023-08-08 11:33:54 +10:00
Peter Barker c45c02ce82 AP_GPS: use AP_AHRS_ENABLED in place of HAL_BUILD_AP_PERIPH 
the guard here is just against use of the singleton
 2023-07-04 10:27:32 +10:00
Peter Barker c89ec67333 AP_GPS: move AP_RTC::mktime to be ap_mktime 
in preparation for AP_RTC_ENABLED
 2023-06-27 11:25:11 +10:00
Henry Wurzburg 7e214b2695 AP_Compass: add GPYW metadata 2023-03-02 08:37:32 +11:00
Andrew Tridgell f53c865c7a AP_GPS: only create GPS logs for active GPS backends 2022-12-20 10:23:58 +11:00
Andrew Tridgell 9cebe3b880 AP_GPS: added a common velocity_to_speed_course() 
this saves flash using common code
 2022-12-20 10:23:58 +11:00
Andrew Tridgell 29f1c31854 AP_GPS: added GPYW logging for GPS yaw 
this makes it much easier to debug GPS yaw issues, by logging the raw
data even if the yaw is rejected
 2022-12-20 10:23:58 +11:00
Andrew Tridgell 6c9cbe1a58 AP_GPS: fixed NMEA time reporting 
basic NMEA does not have an itow, so we need to use time_week_ms

this caused us to always display the time as the start of the GPS week
on NMEA
 2022-12-20 10:23:58 +11:00
Andrew Tridgell ad9dfe2d51 AP_GPS: added support for Unicore NMEA GPS 
this includes dual-antenna moving baseline support, 3D velocity and accuracies
 2022-12-20 10:23:58 +11:00
Andrew Tridgell f84e0c9e8b AP_GPS: disable GPS lag checking in AP_Periph 
it is much more useful to check on the flight controller, not on the
periph, or users just get mysterious failures
 2022-11-08 11:39:20 +11:00
Andrew Tridgell 5cd1aeaf38 AP_GPS: improve GPS debug logging 
use timestamped data allowing for much more precise playback
 2022-10-15 17:20:42 +11:00
bugobliterator 79c45049e0 AP_GPS: only use PPS time when there is atleast 2D Fix 2022-03-23 19:10:47 +11:00
bugobliterator 244b8ed358 AP_GPS: change _last_itow to _last_itow_ms 2022-02-03 06:45:35 +11:00
bugobliterator 46294c0fba AP_GPS: sync pps rate with message rate 2022-01-20 17:26:35 +11:00
bugobliterator 49bf4fa27b AP_GPS: move to using last_corrected_gps_time_us instead of uart_timestamp_us 2022-01-20 17:26:35 +11:00
bugobliterator 9834304525 AP_GPS: make more precise calculation of gps message 
use PPS signal if available as well
 2022-01-20 17:26:35 +11:00
Andrew Tridgell 9d21c0b6c1 AP_GPS: added GPS data logging system 
for debugging GPS protocols
 2022-01-11 10:34:11 +11:00
Peter Barker 6d615a3e16 AP_GPS: move from HAL_NO_GCS to HAL_GCS_ENABLED 2021-09-22 21:37:00 +10:00
bugobliterator 3b58463bfd AP_GPS: initialise uavcan drv interim_state with state structure at startup 2021-08-19 14:20:58 +10:00
bugobliterator 9fc57e40b4 AP_GPS: add support for dual GPS heading using Periph GPSes 2021-08-19 14:20:58 +10:00
Andrew Tridgell f8e40eef00 AP_GPS: fixed printf format errors 2021-08-05 09:43:35 +10:00
Andrew Tridgell e5d878eebd AP_GPS: change handling of moving baseline yaw 
this changes yaw handling in a few ways:

 - GPS yaw now has a timestamp associated with the yaw separate from
   the timestamp associated with the GPS fix

 - we no longer force the primary to change to the UBLOX MB rover when
   it has a GPS yaw. This means we don't change GPS primary due to GPS
   loss, which keeps the GPS more stable. It also increases accuracy
   as the rover is always less accurate in position and velocity than
   the base

 - now we force the primary to be the MB base if the other GPS is a
   rover and the base has GPS lock
 2021-07-21 17:59:49 +10:00
Peter Barker a61b6ebda8 AP_GPS: move from HAL_NO_LOGGING to HAL_LOGGING_ENABLED 2021-05-19 17:38:47 +10:00
Andrew Tridgell dd86e0cc89 AP_GPS: added comment explaining the approach 2021-04-20 17:43:01 +10:00
Andrew Tridgell 8bc31ec5e9 AP_GPS: account for rotation rate in moving baseline Z test 
this avoids switching GPS on rapid roll/pitch
 2021-04-20 17:43:01 +10:00
Michael du Breuil d9ffd04a96 AP_GPS: Broadcast the detect message on AP_Periph over CAN 2021-02-05 11:52:29 -07:00
Michael du Breuil 4161e2eb28 AP_GPS: Factor out moving base offset helper 2020-11-03 11:12:20 +11:00
Andrew Tridgell e529d475d4 AP_GPS: use mktime for NMEA and MTK time conversion 
this fixes NMEA time handling, which was off by 3 days
 2020-10-20 11:21:00 +11:00
yaapu 85b61d6bf3 AP_GPS: added support for MSP GPS sensors 2020-09-09 06:35:50 +10:00
Andrew Tridgell 87c7781be2 AP_GPS: show GPS as unhealthy if it is lagged too much 
this detects GPS data lag, and if 5 samples in a row are lagged by
more than 50ms beyond the expected lag for the GPS then we declare the
GPS as unhealthy.

This is useful to detect users who have asked for more data from the
GPS then it can send at the baudrate that is being used. The case that
led to this path was a F9 GPS with GPS_RAW_DATA=1 at 115200 baud. In
that case the UART data is quickly lagged by over 1s
 2020-08-25 10:22:05 +10:00
Andrew Tridgell 291d72601b AP_GPS: enabled reduced size for AP_Periph support 2019-08-27 10:29:56 +10:00
Peter Barker 678c11f048 AP_GPS: supply format string to send_text 2019-07-26 10:54:41 +10:00
Michael du Breuil 52eb832883 AP_GPS: Remove stuff from headers 2019-04-05 20:12:53 +11:00
Tom Pittenger 12c3446777 AP_GPS: rename dataflash to logger 2019-03-28 16:40:57 +11:00
Peter Barker 6fc76a32af GLOBAL: use AP::logger() and strip redundant Log_ from methods 2019-01-18 18:08:20 +11:00
Peter Barker b47733142f GLOBAL: rename DataFlash_Class to AP_Logger 2019-01-18 18:08:20 +11:00
Andrew Tridgell 7c50aacc92 AP_GPS: moved place we graph uart timestamp 2018-12-04 11:37:38 +11:00
Andrew Tridgell 685771c145 AP_GPS: constrain rate_ms from 5Hz to 20Hz 2018-12-04 11:37:38 +11:00
Andrew Tridgell 7a4b8d76c1 AP_GPS: added jitter correction to timestamp calculation 
this allows for much more accurate (and consistent) timestamping of GPS
messages where the protocol has a ITOW field.
 2018-12-04 11:37:38 +11:00
Andrew Tridgell df68d6413c AP_GPS: moved iTow handling to GPS_Backend 2018-12-04 11:37:38 +11:00
Andrew Tridgell 3fe4b9c0f8 AP_GPS: make GPS packet timestamps more accurate 
this reduces the effect of processing time and uart transmit time
 2018-12-04 11:37:38 +11:00
Peter Barker 40daa8e15f AP_GPS: use mavlink definition to get statustext size 
Also, add one for null-termination
 2018-10-16 10:11:28 +11:00
Patrick José Pereira 10ffd89a0c AP_GPS: Remove unused operation 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2018-08-27 23:35:34 +01:00
Peter Barker 643e7e039a AP_GPS: log received data 
Also log a set of flag values if a driver is deleted
 2018-04-18 13:50:55 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas bf6778277e AP_GPS: implement GPS*_RTK mavlink messages 2017-10-30 18:28:20 +00:00
Peter Barker 76847a2487 AP_GPS: eliminate GCS_MAVLINK::send_statustext_all 2017-07-11 23:53:53 +01:00
Peter Barker 7258cfd20b AP_GPS: check dataflash to see if we should log backend gps messages 2017-06-29 15:43:38 +01:00
Michael du Breuil 1877d09f7c AP_GPS: Don't track detection time to broadcast baud rate 2017-05-30 23:37:59 +01:00